version: 66.04
glider: 101
mission: 7
dive: 168
start: 12 5 108 6 46 6
data:
$ID,101
$MISSION,7
$DIVE,168
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-735415.62
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,177
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2517
$C_ROLL_CLIMB,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,657
$VBD_MAX,3935
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.271928
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042858003
$SEABIRD_T_H,0.00062598009
$SEABIRD_T_I,2.1740922e-05
$SEABIRD_T_J,2.0518198e-06
$SEABIRD_C_G,-9.9824123
$SEABIRD_C_H,1.1171527
$SEABIRD_C_I,-0.00017022179
$SEABIRD_C_J,0.00010324208
$GPS1,064031,6402.542,-1310.082,41,1.9,46,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-44.4
$GPS2,064545,6402.490,-1310.187,13,1.8,13,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KE
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,131.6,9470,-10.7,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,158,0.00,0.00,-140.27,0.000,2,0.000,0.000,26,2531,3498
$GC,162,-1.16,-146.6,5.4,-4.6,7,179,10.95,2.55,-0.32,0.000,4,0.128,0.058,2116,1107,3514
$GC,432,-1.06,-146.6,38.5,-8.5,18,437,0.15,2.50,0.00,0.000,6,0.094,0.041,2144,2523,3513
$GC,756,-1.00,-146.6,63.5,-8.2,34,759,0.00,2.10,0.00,0.000,4,0.000,0.060,2143,3696,3513
$GC,818,-0.94,-146.6,68.3,-7.1,36,825,0.12,2.03,0.00,0.000,6,0.089,0.038,2169,2513,3513
$GC,1135,-0.94,-146.6,86.0,-4.8,52,1139,0.00,2.12,0.00,0.000,4,0.000,0.058,2169,3689,3513
$GC,1208,-0.94,-146.6,90.6,-7.0,55,1212,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2508,3513
$GC,1536,-0.94,-146.6,111.0,-7.0,71,1540,0.00,2.15,0.00,0.000,4,0.000,0.057,2169,3699,3513
$GC,1650,-0.94,-146.6,118.9,-6.8,76,1654,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2516,3513
$GC,1986,-0.94,-146.6,135.6,-5.9,92,1989,0.00,2.12,0.00,0.000,4,0.000,0.058,2169,3692,3513
$GC,2032,-0.94,-146.6,140.8,-11.5,94,2036,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2510,3513
$GC,2365,-0.94,-146.6,171.0,-9.6,110,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2510,3513
$GC,2675,-0.94,-146.6,195.7,-6.4,125,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2510,3513
$GC,2985,-0.94,-146.6,209.0,-2.7,140,2988,0.00,2.15,0.00,0.000,4,0.000,0.058,2169,3699,3513
$GC,3053,-0.94,-146.6,211.2,-3.8,143,3057,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2514,3513
$GC,3387,-0.94,-146.6,217.8,-2.0,159,3391,0.00,2.12,0.00,0.000,4,0.000,0.058,2169,3690,3513
$GC,3533,-0.94,-146.6,217.1,0.2,165,3537,0.00,2.00,0.00,0.000,6,0.000,0.037,2169,2511,3513
$GC,3855,-0.94,-146.6,241.5,-14.0,181,3858,0.00,2.12,0.00,0.000,4,0.000,0.058,2169,3689,3514
$GC,3951,-0.94,-146.6,259.7,-19.4,185,3954,0.00,2.03,0.00,0.000,6,0.000,0.037,2169,2505,3513
$GC,4278,-0.94,-146.6,312.7,-10.8,201,4282,0.00,2.15,0.00,0.000,4,0.000,0.060,2169,3692,3513
$GC,4415,-0.94,-146.6,325.6,-8.2,207,4418,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2507,3513
$GC,4748,-0.94,-146.6,352.1,-10.7,223,4752,0.00,2.15,0.00,0.000,4,0.000,0.061,2169,3692,3513
$GC,4885,-0.94,-146.6,368.8,-13.8,229,4889,0.00,2.03,0.00,0.000,6,0.000,0.038,2169,2510,3513
$GC,5218,-0.94,-146.6,397.3,-3.2,245,5222,0.00,2.15,0.00,0.000,4,0.000,0.063,2169,3688,3513
$GC,5336,-0.94,-146.6,400.8,-3.3,250,5340,0.00,2.03,0.00,0.000,6,0.000,0.039,2169,2511,3512
$GC,5664,-0.94,-146.6,436.2,-16.8,266,5668,0.00,2.17,0.00,0.000,4,0.000,0.067,2169,3690,3513
$GC,5760,-0.94,-146.6,455.6,-21.5,270,5763,0.00,2.03,0.00,0.000,6,0.000,0.040,2169,2523,3513
$GC,6088,-0.94,-146.6,492.3,-2.3,286,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2523,3512
$GC,6397,-0.94,-146.6,492.0,-2.2,301,6401,0.00,2.20,0.00,0.000,4,0.000,0.077,2169,3690,3512
$GC,6606,-0.94,-146.6,500.6,-4.4,310,6609,0.00,2.08,0.00,0.000,6,0.000,0.047,2168,2516,3512
$GC,6934,-0.99,-146.6,531.0,-14.3,326,6938,0.00,2.25,0.00,0.000,4,0.000,0.089,2169,3683,3512
$GC,7003,-0.99,-146.6,541.6,-15.5,329,7007,0.00,2.10,0.00,0.000,6,0.000,0.058,2169,2513,3512
$STATE,7066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7066,begin apogee
$GC,7074,-0.45,0.0,550.2,13.0,332,7207,0.50,0.00,127.43,1.190,6,0.064,0.000,2276,2311,2914
$STATE,7208,end apogee,CONTROL_FINISHED_OK
$STATE,7208,begin climb
$GC,7211,1.16,146.6,561.6,0.0,339,7348,1.60,2.72,126.80,1.156,4,0.054,0.076,2626,901,2316
$GC,7363,1.24,218.0,560.2,3.9,346,7433,0.00,2.65,62.75,1.125,6,0.000,0.061,2626,2312,2026
$GC,7751,1.24,218.0,532.2,8.8,365,7755,0.00,2.60,0.00,0.000,4,0.000,0.075,2626,3701,2025
$GC,7863,1.24,218.0,523.6,6.2,370,7867,0.00,2.47,0.00,0.000,6,0.000,0.043,2626,2309,2025
$GC,8185,1.24,218.0,505.0,6.8,386,8189,0.00,2.58,0.00,0.000,4,0.000,0.070,2626,3693,2025
$GC,8274,1.28,250.1,500.0,5.0,390,8312,0.12,2.45,29.02,1.118,6,0.058,0.042,2658,2310,1895
$GC,8625,1.27,274.7,483.7,5.3,407,8654,0.00,2.67,22.77,1.106,4,0.000,0.066,2657,3691,1794
$GC,8766,1.22,274.7,470.1,10.0,413,8770,0.00,2.45,0.00,0.000,6,0.000,0.041,2657,2308,1793
$GC,9093,1.17,274.7,439.2,8.7,429,9098,0.15,2.58,0.00,0.000,4,0.097,0.063,2629,3700,1793
$GC,9194,1.17,274.7,429.6,7.8,433,9201,0.00,2.45,0.00,0.000,6,0.000,0.039,2629,2302,1794
$GC,9511,1.17,274.7,410.5,7.3,449,9515,0.00,2.58,0.00,0.000,4,0.000,0.061,2629,3705,1794
$GC,9561,1.17,274.7,406.1,7.6,451,9565,0.00,2.42,0.00,0.000,6,0.000,0.039,2628,2318,1793
$GC,9877,1.17,274.7,378.3,10.5,466,9882,0.00,2.53,0.00,0.000,4,0.000,0.060,2629,3696,1793
$GC,9928,1.26,344.1,376.0,3.9,468,9994,0.00,2.42,59.65,1.081,6,0.000,0.038,2629,2305,1512
$GC,10314,1.31,344.1,345.4,11.1,487,10319,0.15,2.55,0.00,0.000,4,0.051,0.058,2667,3705,1511
$GC,10382,1.25,344.1,337.4,11.9,490,10386,0.00,2.42,0.00,0.000,6,0.000,0.038,2667,2314,1511
$GC,10704,1.25,344.1,309.3,6.8,506,10708,0.00,2.55,0.00,0.000,4,0.000,0.059,2667,3706,1512
$GC,10754,1.20,344.1,305.1,8.2,508,10759,0.15,2.42,0.00,0.000,6,0.098,0.038,2638,2315,1511
$GC,11071,1.25,344.1,282.4,8.0,523,11075,0.00,2.53,0.00,0.000,4,0.000,0.058,2638,3702,1511
$GC,11201,1.25,344.1,270.1,11.1,528,11207,0.00,2.42,0.00,0.000,6,0.000,0.038,2638,2307,1511
$GC,11517,1.30,344.1,245.9,7.5,544,11521,0.00,2.53,0.00,0.000,4,0.000,0.058,2638,3696,1512
$GC,11590,1.30,344.1,240.2,7.3,547,11594,0.00,2.40,0.00,0.000,6,0.000,0.037,2638,2313,1511
$GC,11911,1.35,344.1,215.1,8.1,563,11916,0.12,2.53,0.00,0.000,4,0.054,0.057,2672,3699,1511
$GC,11957,1.30,344.1,210.9,10.2,565,11961,0.00,2.40,0.00,0.000,6,0.000,0.036,2672,2312,1511
$GC,12278,1.30,344.1,178.1,10.7,581,12282,0.00,2.50,0.00,0.000,4,0.000,0.054,2672,3698,1511
$GC,12358,1.25,344.1,169.3,11.1,584,12362,0.12,2.40,0.00,0.000,6,0.102,0.036,2649,2308,1511
$GC,12674,1.25,344.1,141.0,8.1,599,12679,0.00,2.53,0.00,0.000,4,0.000,0.055,2649,3705,1511
$GC,12742,1.25,344.1,135.3,8.2,602,12746,0.00,2.40,0.00,0.000,6,0.000,0.036,2649,2313,1511
$GC,13064,1.25,344.1,110.7,7.7,618,13068,0.00,2.50,0.00,0.000,4,0.000,0.054,2650,3699,1511
$GC,13114,1.25,344.1,106.4,8.7,620,13118,0.00,2.38,0.00,0.000,6,0.000,0.035,2649,2318,1511
$GC,13437,1.25,344.1,82.2,7.6,636,13441,0.00,2.50,0.00,0.000,4,0.000,0.054,2649,3706,1511
$GC,13482,1.25,344.1,78.5,8.8,638,13486,0.00,2.38,0.00,0.000,6,0.000,0.035,2649,2314,1511
$GC,13810,1.29,344.1,50.8,8.9,654,13814,0.00,2.50,0.00,0.000,4,0.000,0.054,2649,3703,1512
$GC,13850,1.29,344.1,47.0,9.2,656,13855,0.00,2.38,0.00,0.000,6,0.000,0.035,2649,2315,1512
$GC,14184,1.34,344.1,16.4,9.9,672,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2314,1512
$STATE,14366,end climb,SURFACE_DEPTH_REACHED
$STATE,14366,begin surface coast
$FINISH,0.8,1.028033
$STATE,14388,end surface coast,CONTROL_FINISHED_OK
$STATE,14388,begin surface
$SM_CCo,14474,0.00,0.000,0,0,1511,344.40
$SM_GC,1.49,11.57,0.00,0.00,0.037,0.000,0.000,25,2533,1511,-10.75,0.45,344.40
$IRIDIUM_FIX,6337.14,-1334.72,010398,040419
$TT8_MAMPS,0.028379
$HUMID,2041
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,16.10
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,476.4,81.5
$24V_AH,23.1,27.867
$10V_AH,10.1,12.502
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.725,144.975,428.425,0.000,0.000,26.506,30.637,146.174,8.250,0.000,0.000,15.329,1349.346,10513.023,561.519,1862.608,509.418,0.000,1518.183,0.000,1816.078,0.000,26.667,0.000
$DEVICE_MAMPS,128.089,88.972,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.429,464.412,489.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,682
$CAP_FILE_SIZE,117132,0
$CFSIZE,260165632,249311232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,104838,6358.841,-1310.113,38,0.9,38,-12.5